version: 66.04
glider: 166
mission: 2
dive: 543
start: 8 25 109 4 15 48
data:
$ID,166
$MISSION,2
$DIVE,543
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18066.885
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.273609
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,040837,2515.698,12223.493,36,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.3
$GPS2,041526,2515.580,12223.438,12,1.1,12,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,34.1,17641,-13.9,-10.000
$D_GRID,478
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.93,-243.4,0.0,0.0,0,101,0.00,0.00,-82.65,0.000,2,0.000,0.000,145,2101,2236
$GC,106,-0.93,-243.4,3.1,-4.2,13,173,9.38,2.30,-50.53,0.000,4,0.221,0.051,2508,641,3939
$GC,263,-0.62,-243.4,32.1,-22.3,38,272,0.38,2.08,0.00,0.000,6,0.131,0.034,2618,2043,3940
$GC,614,-0.68,-243.4,70.2,-4.1,99,620,0.00,2.15,0.00,0.000,4,0.000,0.046,2614,3458,3942
$GC,651,-0.77,-243.4,71.9,-5.2,105,658,0.12,2.05,0.00,0.000,6,0.061,0.029,2547,2029,3942
$GC,999,-0.65,-243.4,129.0,-16.9,166,1007,0.17,2.03,0.00,0.000,4,0.131,0.038,2605,679,3943
$GC,1154,-0.75,-243.4,146.0,-9.3,192,1160,0.00,2.05,0.00,0.000,6,0.000,0.032,2603,2070,3944
$GC,1503,-0.86,-243.4,171.1,-9.7,253,1510,0.17,2.12,0.00,0.000,4,0.054,0.046,2504,3457,3944
$GC,1551,-0.75,-243.4,177.6,-14.7,261,1558,0.25,2.03,0.00,0.000,6,0.120,0.029,2579,2058,3944
$GC,1899,-0.81,-243.4,210.4,-7.7,322,1906,0.00,2.08,0.00,0.000,4,0.000,0.039,2580,676,3943
$GC,1970,-0.87,-243.4,217.5,-10.6,334,1978,0.12,2.08,0.00,0.000,6,0.062,0.034,2517,2073,3943
$GC,2318,-0.76,-243.4,264.9,-12.8,395,2324,0.20,2.15,0.00,0.000,4,0.129,0.039,2581,675,3942
$GC,2535,-0.85,-243.4,283.4,-8.0,433,2542,0.12,2.08,0.00,0.000,6,0.061,0.035,2516,2054,3941
$GC,2871,-0.76,-243.4,324.8,-12.6,476,2873,0.20,0.00,0.00,0.000,6,0.126,0.000,2576,2054,3939
$GC,3188,-0.85,-243.4,355.3,-10.5,506,3192,0.00,2.20,0.00,0.000,4,0.000,0.052,2574,3462,3938
$GC,3225,-0.98,-243.4,358.9,-10.3,509,3230,0.20,2.10,0.00,0.000,6,0.049,0.031,2478,2044,3938
$GC,3552,-0.79,-243.4,418.6,-18.3,539,3556,0.25,2.12,0.00,0.000,4,0.129,0.044,2560,664,3936
$GC,3638,-0.83,-243.4,428.8,-10.9,546,3641,0.00,2.10,0.00,0.000,6,0.000,0.040,2560,2038,3935
$GC,3970,-0.89,-243.4,463.2,-9.6,577,3973,0.00,2.25,0.00,0.000,4,0.000,0.054,2555,3463,3934
$GC,4006,-0.98,-243.4,466.9,-10.2,580,4011,0.15,2.15,0.00,0.000,6,0.056,0.033,2480,2023,3933
$STATE,4085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4085,begin apogee
$GC,4093,-0.23,0.0,478.5,15.8,587,4294,0.80,0.00,195.68,1.062,6,0.120,0.000,2739,1692,2945
$STATE,4294,end apogee,CONTROL_FINISHED_OK
$STATE,4294,begin climb
$GC,4298,0.93,243.4,489.6,0.0,607,4507,1.00,2.25,198.02,1.030,4,0.042,0.051,3139,301,1949
$GC,4566,0.60,243.4,465.6,18.8,631,4571,0.43,2.15,0.00,0.000,6,0.153,0.038,3018,1700,1945
$GC,4893,0.55,263.6,428.6,9.4,661,4917,0.00,2.17,17.02,0.954,4,0.000,0.048,3018,3101,1869
$GC,5160,0.50,317.9,405.0,8.5,684,5213,0.15,2.10,46.72,0.993,6,0.140,0.038,2984,1705,1648
$GC,5532,0.55,327.3,377.8,9.7,719,5546,0.00,2.20,9.15,0.873,4,0.000,0.048,2984,3089,1610
$GC,5803,0.55,327.3,340.0,13.7,743,5807,0.00,2.05,0.00,0.000,6,0.000,0.038,2991,1740,1608
$GC,6139,0.69,419.4,307.0,7.5,774,6227,0.15,2.22,79.90,0.955,4,0.061,0.048,3066,3094,1235
$GC,6404,0.56,419.4,265.3,18.3,814,6412,0.28,2.03,0.00,0.000,6,0.137,0.038,2996,1753,1232
$GC,6753,0.66,432.6,229.1,9.6,875,6772,0.10,2.10,12.40,0.845,4,0.072,0.047,3054,3094,1180
$GC,6919,0.56,432.6,203.2,16.4,904,6926,0.17,2.03,0.00,0.000,6,0.127,0.036,3005,1774,1180
$GC,7270,0.67,454.0,171.4,9.4,965,7296,0.00,2.08,19.65,0.842,4,0.000,0.047,3006,3105,1094
$GC,7491,0.91,567.3,152.2,6.9,1003,7598,0.20,1.98,98.05,0.833,6,0.027,0.036,3148,1807,631
$GC,7939,0.73,567.3,40.9,19.9,1080,7946,0.28,2.00,0.00,0.000,4,0.132,0.044,3058,3105,628
$GC,8163,1.01,629.1,22.0,8.3,1119,8208,0.17,1.98,37.38,0.726,6,0.033,0.035,3173,1802,455
$STATE,8280,end climb,SURFACE_DEPTH_REACHED
$STATE,8280,begin surface coast
$FINISH,1.2,1.021575
$STATE,8298,end surface coast,CONTROL_FINISHED_OK
$STATE,8298,begin surface
$SM_CCo,8378,0.00,0.000,0,0,451,611.78
$SM_GC,1.90,7.90,0.00,0.00,0.035,0.000,0.000,153,2095,451,-8.26,0.96,611.78
$IRIDIUM_FIX,2503.20,12224.80,191198,010122
$TT8_MAMPS,0.027612
$HUMID,1842
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,21.80
$XPDR_PINGS,177
$24V_AH,23.7,123.321
$10V_AH,10.6,79.277
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.350,68.300,713.975,0.000,0.000,26.093,31.737,189.566,47.250,0.000,0.000,13.078,1848.416,3401.059,725.273,2202.161,601.465,0.000,1739.294,0.000,2194.177,0.000,21.032,0.000
$DEVICE_MAMPS,220.896,54.457,1061.528,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,771.794,855.396,1442.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66508,1142
$CAP_FILE_SIZE,102783,0
$CFSIZE,260165632,190300160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,111.7,1
$GPS,250809,063634,2516.646,12223.387,8,3.4,28,-3.6